Mobile correctional facility robots

ABSTRACT

The present disclosure is directed to mobile correctional facility robots and systems and methods for coordinating mobile correctional facility robots to perform various tasks in a correctional facility. The mobile correctional facility robots can be used to perform many of the tasks traditionally assigned to correctional facility guards to help reduce the number of guards needed in any given correctional facility. When cooperation is employed among multiple mobile correctional facility robots to execute tasks, a central controller can be used to coordinate the efforts of the multiple robots to improve the performance of the overall system of robots as compared to the performance of the robots when working in uncoordinated effort to execute the tasks.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. Nonprovisional patentapplication Ser. No. 15/491,728, filed on Apr. 19, 2017, titled “MobileCorrectional Facility Robots,” and the contents of which are herebyincorporated herein by reference in its entirety.

TECHNICAL FIELD

This application relates generally to mobile robots for correctionalfacilities, including a system and method for coordinating mobile robotsfor correctional facilities.

BACKGROUND

A correctional facility is a facility in which inmates are confined andmany of their freedoms restricted. Typically, a government institutionconfines inmates to correctional facilities for a specified period oftime after the inmates have been found guilty of committing a crime.

Correctional facilities in the United States and in other areas abroadare often either overcrowded with inmates or understaffed with guardsdue to cost constraints. A more succinct way of characterizing thecorrectional facility situation in the United States and in other areasabroad is that the ratio of inmates to guards in many correctionalfacilities is often too high. As a result, guards are unable toappropriately monitor inmate activity and respond to events requiringtheir attention, which endangers not only the guards and inmates atthese correctional facilities, but also the general public as well.Also, a substantial amount of the total funds available to correctionalfacilities is spent on guards, leaving little money left over to pay forprograms to reduce recidivism, which only further exacerbates theproblem of inmate overcrowding.

In addition, even assuming additional funds are made available tocorrectional facilities to increase the number of guards to performinmate monitoring, studies have shown that humans are often ill-suitedto perform routine monitoring through surveillance equipment, such asvideo cameras. This is because of the rote nature of monitoringsurveillance equipment for some event of interest that may onlyinfrequently occur.

BRIEF DESCRIPTION OF THE DRAWINGS/FIGURES

The accompanying drawings, which are incorporated herein and form a partof the specification, illustrate the present disclosure and, togetherwith the description, further serve to explain the principles of thedisclosure and to enable a person skilled in the pertinent art to makeand use the disclosure.

FIG. 1 illustrates an example correctional facility floor plan andmobile correctional facility robots operating in the correctionalfacility in accordance with embodiments of the present disclosure.

FIG. 2 illustrates a front-facing and profile view of an example mobilecorrectional facility robot in accordance with embodiments of thepresent disclosure.

FIG. 3 illustrates a block diagram of an example correctional facilityrobot in accordance with embodiments of the present disclosure.

FIG. 4 illustrates a flowchart of an example coordination methodperformed by a central controller is a cooperative correctional facilityrobot system in accordance with embodiments of the present disclosure.

FIG. 5 illustrates a flowchart of an example coordination methodperformed by a mobile correctional facility robot is a cooperativecorrectional facility robot system in accordance with embodiments of thepresent disclosure.

FIG. 6 illustrates a flowchart of an example method for executing a taskby a mobile correctional facility robot in accordance with embodimentsof the present disclosure.

FIG. 7 illustrates a block diagram of an example computer system thatcan be used to implement aspects of the present disclosure.

The present disclosure will be described with reference to theaccompanying drawings. The drawing in which an element first appears istypically indicated by the leftmost digit(s) in the correspondingreference number.

DETAILED DESCRIPTION

In the following description, numerous specific details are set forth inorder to provide a thorough understanding of the disclosure. However, itwill be apparent to those skilled in the art that the disclosure,including structures, systems, and methods, may be practiced withoutthese specific details. The description and representation herein arethe common means used by those experienced or skilled in the art to mosteffectively convey the substance of their work to others skilled in theart. In other instances, well-known methods, procedures, components, andcircuitry have not been described in detail to avoid unnecessarilyobscuring aspects of the disclosure.

References in the specification to “one embodiment,” “an embodiment,”“an example embodiment,” etc., indicate that the embodiment describedmay include a particular feature, structure, or characteristic, butevery embodiment may not necessarily include the particular feature,structure, or characteristic. Moreover, such phrases are not necessarilyreferring to the same embodiment. Further, when a particular feature,structure, or characteristic is described in connection with anembodiment, it is submitted that it is within the knowledge of oneskilled in the art to affect such feature, structure, or characteristicin connection with other embodiments whether or not explicitlydescribed.

It will be apparent to persons skilled in the relevant art(s) thatvarious elements and features of the present disclosure, as describedherein, can be implemented in hardware using analog and/or digitalcircuits, in software, through the execution of instructions by one ormore general purpose or special-purpose processors, or as a combinationof hardware and software.

1. Overview

The present disclosure is directed to mobile correctional facilityrobots and systems and methods for coordinating mobile correctionalfacility robots to perform various tasks in a correctional facility. Themobile correctional facility robots can be used to perform many of thetasks traditionally assigned to correctional facility guards to helpreduce the number of guards needed in any given correctional facility.

Several types of mobile correctional facility robots with differentcapabilities and physical characteristics can be used, including aservice robot and an enforcement robot. Each type of robot can workindependently to execute a task, work together with other robots of thesame type to execute a task, and/or work together with other robots ofthe same and differing types to execute a task.

When cooperation is employed among multiple mobile correctional facilityrobots to execute tasks, a central controller can be used to coordinatethe efforts of the multiple robots to improve the performance of theoverall system of robots as compared to the performance of the robotswhen working in uncoordinated effort to execute the tasks.

In one embodiment, a service robot is configured to perform a deliverytask. As part of the delivery task, the service robot is configured todetermine or receive a route within the correctional facility andtraverse the route to receive and deliver an item for delivery. The itemfor delivery can be, for example, an item from the correctional facilitycommissary, a mail item, a clothing item, an audio or video message, oreven an inmate or person.

To perform the delivery task, the service mobile correctional facilityrobot can include a plurality of actuators for controlling movement ofthe various mechanical components of the robot, such as wheels, an armor shelf, a gripping instrument, and a compartment door, for example.The service robot can further include a sensor array with varioussensors for detecting physical properties of the environment surroundingthe robot and an output interface for providing audio or visual outputto one or more people in the environment surrounding the robot.

In another embodiment, an enforcement mobile correctional facility robotis configured to perform an enforcement task. As part of the enforcementtask, the enforcement robot is configured to determine or receive aroute within the correctional facility, traverse the route to arrive ata location in which an enforcement action is to be performed, andperform the enforcement action.

To perform the enforcement action, the enforcement mobile correctionalfacility robot can include a plurality of actuators for controllingmovement of the various mechanical components of the robot, such aswheels and an arm to deploy non-lethal force as part of the enforcementaction, for example. The non-lethal force can include the use of anelectro-shock weapon, a rubber projectile gun, gas, or physical contactby the robot with an inmate. The enforcement robot can further include asensor array with various sensors for detecting physical properties ofthe environment surrounding the robot and an output interface forproviding audio or visual output to one or more people in theenvironment surrounding the robot.

In yet another embodiment, one or both of the service and enforcementmobile correctional facility robots can be configured to perform anadditional monitoring task. As part of the monitoring task, the mobilecorrectional facility robots are configured to determine or receive aroute within the correctional facility and monitor sensory datacollected while traversing the route for events of interest. The mobilecorrectional facility robots can then transmit an alert to a detectedevent and/or react to the event.

These and other features of the present disclosure are described furtherbelow.

2. Example Operating Environment

FIG. 1 illustrates a floor plan 100 of an example correctional facilityin which mobile correctional facility robots can operate in accordancewith embodiments of the present disclosure. It should be noted thatfloor plan 100 is only exemplary and, in other embodiments, floor plan100 can include a larger number of rooms with additional and/ordifferent purposes than those shown and can have multiple levels offloors.

Floor plan 100 includes several inmate cells 102. Each inmate cell 102can be designated to one or more inmates for the general purpose ofsleeping and can include a bed and lavatory. Inmate cells 102 can beseparated from the rest of the correctional facility by a solid orbarred wall and a solid or barred door that locks from the outside toconfine the inmate at any given point in time.

Floor plan 100 further includes a control room 104 that functions as aspace where the correctional facility can be monitored and controlled bycorrectional facility guards and other employees of the correctionalfacility. Control room 104 can include one or more surveillance systemmonitors and control systems from which feeds from surveillance videocameras and microphones spaced throughout the correctional facility canbe monitored and controlled. Control room 104 can further include acontrol system to open and shut doors and gates throughout thecorrectional facility and a control system in which phone calls to andfrom the correctional facility are routed.

Other rooms in floor plan 100 include a commissary 106, from whichinmates can purchase hygiene items, food items, writing or drawingrelated items, and/or other items using money in an account maintainedby the correctional facility or some other entity, a kitchen 108 wheremeals are prepared for the inmates, a laundry room 110 for doing inmatelaundry, a storage and/or mail room 112, offices/holding rooms/medicalrooms 114, a multi-purpose room 116 used for exercise and other inmateactivities, and showers 118 used for inmate bathing.

One or more mobile correctional facility robots 120 are configured tooperate in the correctional facility depicted by floor plan 100. Mobilecorrectional facility robots 120 are configured to perform taskstraditionally assigned to correctional facility guards to help reducethe number of guards needed in the correctional facility.

Mobile correctional facility robots 120 can include several differenttypes of robots with different capabilities and physicalcharacteristics, including a service mobile correctional facility robotand an enforcement mobile correctional facility robot. Each type ofmobile correctional facility robot 120 can work independently to executea task, work together with other robots of the same type to execute atask, and/or work together with other robots of the same and differingtypes to execute a task.

When cooperation is employed among multiple mobile correctional facilityrobots 120 to execute tasks, a central controller 122 can be used tocoordinate the efforts of the multiple robots 120 to improve theperformance of the overall system of robots as compared to theperformance of the robots 120 when working in uncoordinated effort toexecute the tasks. Central controller 122, when employed, can be locatedin control room 104 and can be implemented using a processor executingcomputer program instructions stored on a memory. Central controller 122can communicate with mobile correctional facility robots 120 using awireless and/or wired transceiver. Central controller 122 can also beone of mobile correctional facility robots 120.

In one embodiment, one or more of correctional facility robots 120 areservice mobile correctional facility robots configured to perform adelivery task. As part of the delivery task, a service robot isconfigured to determine or receive a route within the correctionalfacility and traverse the route to receive and deliver an item. The itemfor delivery can be, for example, an item from commissary 106, a mailitem from storage/mail room 112, a clothing item from laundry 110, anaudio or video message, and/or an inmate or person, to provide a fewexamples.

In another embodiment, one or more of correctional facility robots 120are enforcement mobile correctional facility robots configured toperform an enforcement task. As part of the enforcement task, anenforcement robot is configured to determine or receive a route withinthe correctional facility, traverse the route to arrive at a location inwhich an enforcement action is to be performed, and perform theenforcement action.

In yet another embodiment, one or more of correctional facility robots120 configured as service or enforcement mobile correctional facilityrobots can be configured to perform an additional monitoring task. Aspart of the monitoring task, a mobile correctional facility robot isconfigured to determine or receive a route within the correctionalfacility and monitor sensory data collected while traversing the routefor events of interest. The correctional facility robot can thentransmit an alert to a detected event and/or react to the event.

3. Mobile Correctional Facility Robots

Referring now to FIG. 2 , an example front view and profile view of amobile correctional facility robot 200 is illustrated in accordance withembodiments of the present disclosure. In one embodiment, mobilecorrectional facility robot 200 corresponds to one or more of mobilecorrectional facility robots 120 in FIG. 1 . As shown in FIG. 2 , mobilecorrectional facility robot 200 includes a body 202, a sensor arraycompartment 204, an output interface 206, a storage compartment 208, anarm or shelf 210, a gripping instrument 212, and wheels 214. It shouldbe noted that mobile correctional facility robot 200 is exemplary and inother embodiments one or more of the components and instruments shown inFIG. 2 can be dispensed with and/or additional components andinstruments can be used.

Body 202 can be made of several different types of materials dependingon the tasks that mobile correctional facility robot 200 is configuredto execute. For example, assuming mobile correctional facility robot 200is a service robot configured to deliver items, body 202 can be made ofa cheap and/or lightweight material, such as injection molded and/orvacuum formed plastic. On the other hand, assuming mobile correctionalfacility robot 200 is an enforcement robot configured to perform anenforcement action, body 202 can be made of a stronger material, such asmetal. Sensor array compartment 204 can be covered by a plexiglassmaterial (or other clear or semi-clear material) and/or a perforatedmaterial to allow sensor signals to be transmitted and received bysensors and detectors contained in sensor array compartment 204.Similarly, output interface 206 can be covered by a plexiglass material(or other clear or semi-clear material) and/or a perforated material toallow audio and/or visual output provided by output interface 206 to beheard or seen by people in the surrounding environment of mobilecorrectional facility robot 200.

Sensor array compartment 204, as noted above, includes sensors anddetectors. Although sensor array compartment 204 is shown as a singlecompartment that extends around the entire width of body 202, sensorarray compartment 204 can be positioned at one or more other points andlocations of body 202. Sensor array compartment 204 can include, forexample, sensors to help aid in performing various functions of themobile correctional facility robot 200, such as navigating through thecorrectional facility, manipulating objects (e.g., items for delivery ornon-lethal means of force), and monitoring inmate activity. The sensorsfor each of these functions can be shared among the different functionsand/or used for other functions not specifically mentioned here.

To perform navigation in the correctional facility, sensor arraycompartment 204 can include one or more distance and/or contour sensors,such as ultrasonic sensors, infrared sensors, laser range sensors,stereo camera sensors, and Light Detection and Ranging technology(LIDAR) sensors. In addition, to perform navigation in the correctionalfacility, sensor array compartment 204 can include a compass, anaccelerometer, a global positioning system sensor to detect satellitesignals, and an indoor localization system sensor that senses orreceives signals from landmarks or beacons the generate Wi-Fi,Bluetooth, or any other similar signal within the correctional facility.

To manipulate and hold objects, such as items for delivery or non-lethalmeans of force, one or more pressure or tactile sensors can be used.These sensors are positioned on the components of mobile correctionalfacility robot 200 responsible for manipulating and holding the objects,such as arm or shelf 210 and gripping instrument 212.

To monitor inmate activity, sensory array compartment 204 can includemicrophones and various types of image sensors. For example, amicrophone array can be included in sensor array compartment 204 toperform sound source localization using the information from themultiple microphones in the array. In addition, multiple video camerascan be positioned around body 202 to provide mobile correctionalfacility robot 200 with a wide view of its surrounding environment,including a 360 degree view. The cameras can include thermographic andinfrared cameras, which can be used to monitor inmates behind walls orother objects and in dark environments.

Finally, other sensors can be included in sensor array compartment 204to monitor other physical properties and characteristics of theenvironment surrounding mobile correctional facility robot 200, such astemperature sensors and biometric sensors. Biometric sensors can beused, for example, to authenticate an inmate or another person and/or toauthorize an inmate or another person to perform an activity. Biometricsensors can include finger print scanners, iris scanners, microphones toperform voice identification, and/or image sensors to perform facialidentification. Additionally, biometric sensors can include aradio-frequency identification (RFID) or near-field communication (NFC)transceiver or receiver to receive identification signals from inmates'wireless communication devices, such a tablets, phones, or wearabledevices (e.g., a bracelet worn on the ankle or wrist). Eachidentification signal can uniquely identify an inmate.

Output interface 206 can include one or more displays, lights, andspeakers to provide audio and visual output to people in the environmentsurrounding mobile correctional facility robot 200. In one embodiment,mobile correctional facility robot 200 can include hardware and softwarethat allow mobile correctional facility robot 200 to have intelligentand realistic communications with inmates and guards of the correctionalfacility. This capability of mobile correctional facility robot 200 canbe used to take orders from inmates or guards (e.g., orders for goodsfrom the correctional facility commissary), to answer general questionsof inmates or guards, or to relay electronic messages between inmatesand guards or between guards.

Output interface 206 can also include a detachable phone or tablet thatcan be used by inmates to communicate with mobile correctional facilityrobot 200 as well as to place phone and/or video calls to individualsoutside of the correctional facility, such as friends and families. Thephone or tablet can use an existing wireless infrastructure in theprison facility to provide such services and can be powered or chargedby a battery of mobile correctional facility robot 200 through a wire, awireless charging base on mobile correctional facility robot 200, or acontact based charger on mobile correctional facility robot 200.

Storage compartment 208 can be used to store items and objects that arenot currently being used or are not currently needed by mobilecorrectional facility robot 200. For example, storage compartment 208can be used to store items for delivery and/or means for non-lethalforce, such as an electro-shock weapon, a rubber projectile gun, or gasstored in a container. Storage compartment 208 can also be used to storethe phone or tablet mentioned above.

Arm or shelf 210 can be used to manipulate or hold an object, such asitems for delivery or non-lethal means of force, and can include one ormore components that allow arm or shelf 210 to be extended from body 202and articulated in one or more other directions. Although shown ascoming out of storage compartment 208, in other embodiments arm or shelf210 can be attached to other parts of body 202, such as one of the sidesof body 202. Gripping instrument 212 can be used to grip or pinch anobject using two or more fingers or digits. Gripping instrument 212 canbe attached to the end of arm or shelf 210 as shown in FIG. 2 .

Wheels 214 are used to move mobile correctional facility robot 200around the correctional facility. As shown in FIG. 2 , mobilecorrectional facility robot 200 includes three wheels: two towards thefront and one towards the back of mobile correctional facility robot200. In other embodiments, more or less wheels 214 can be used and atdifferent positions than those shown in FIG. 2 .

Although not specifically shown in FIG. 2 , mobile correctional facilityrobot 200 can include one or more batteries or battery cells internal tobody 202 for powering mobile correctional facility robot 200. Mobilecorrectional facility robot 200 can monitor the charge state of the oneor more batteries and determine the amount of charge needed to return toa home base or charging base from its current position. Mobilecorrectional facility robot 200 can return to the home base or chargingbase before the charge of the batteries becomes too low to make the tripback to the home base or charging base. The home base or charging basecan contain a beacon that transmits a wireless signal to mobilecorrectional facility robot 200. Mobile correctional facility robot 200can use the wireless signal to position itself such that chargingcontacts on mobile correctional facility robot 200 make contact withcharging contacts on the home base or charging base. The home base orcharging base can transfer power through the contacts to the batteriesof mobile correctional facility robot 200.

Referring now to FIG. 3 , a block diagram of an example correctionalfacility robot, such as correctional facility robot 200 in FIG. 2 , isillustrated in accordance with embodiments of the present disclosure.Block diagram 300 includes a hardware processing unit 302, a memory 304,a sensor array 306, an output interface 308, actuators 310, atransceiver 312, and a bus 314.

Hardware processing unit 302 can include one or more processors, such asa central processing unit (CPU) 316 and a signal processor 318 (e.g., adigital signal processor or a graphics processing unit). Hardwareprocessing unit 302 can be used to execute computer program instructionsstored in memory 304. The computer program instructions can relate to orinclude one or more functions of mobile correctional facility robot 200described above and one or more methods described below with respect toFIGS. 4-6 .

Memory 304 can store, in addition to computer program instructions,sensor data collected by sensors in sensor array 306. The sensor datacorresponds to physical properties of the environment surrounding themobile correctional facility robot. Sensory array 306 can include one ormore of the sensors described above in regard to FIG. 2 and can be usedfor the same or similar purposes.

Output interface 308 can include one or more displays, lights, andspeakers to provide audio and visual output to people in the environmentsurrounding the mobile correctional facility robot. Hardware processingunit 302 can generate or provide the audio and visual output to outputinterface 308 over bus 314 or some other connection not shown.

Actuators 310 can control the movement of the various mechanicalcomponents of the robot at the direction of hardware processing unit302, such as wheels and an arm to handle items for delivery or to deploynon-lethal force as part of the enforcement action, for example. Theactuators can include one or more electric actuators, such as motors,mechanical actuators, hydraulic actuators, and pneumatic actuators.

Finally, transceiver 312 can be used to communicate information and datafrom the mobile correctional facility robot that transceiver 312 isimplemented to other mobile correctional facility robots and/or to acentral controller, such as central controller 122 illustrated in FIG. 1. Hardware processing unit 302 can provide the information to becommunicated to transceiver 312 over bus 314 or some other connectionnot shown.

Although not shown in FIG. 3 , it should be noted that block diagram 300can further include one or more input interfaces to allow the mobilecorrectional facility robot to receive input from inmates or guards ofthe correctional facility. For example, the one or more input interfacescan include a keyboard, touch interface, buttons, or switches.

4. Coordination Method

Referring now to FIG. 4 , a flowchart of a coordination method 400 forexecution by central controller 122 in FIG. 1 is illustrated inaccordance with embodiments of the present disclosure. As discussedabove, mobile correctional facility robots 120 in FIG. 1 can includeseveral different types of robots with different capabilities andphysical characteristics, including a service mobile correctionalfacility robot and an enforcement mobile correctional facility robot.Each type of mobile correctional facility robot 120 can workindependently to execute a task, work together with other robots of thesame type to execute a task, and/or work together with other robots ofthe same and differing types to execute a task.

When cooperation is employed among multiple mobile correctional facilityrobots 120 to execute tasks, central controller 122 can be used tocoordinate the efforts of the multiple robots 120 to improve theperformance of the overall system of robots as compared to theperformance of robots 120 when working in an uncoordinated effort toexecute the tasks.

To this end, coordination method 400 begins at step 402, where centralcontroller 122 receives status and/or alert information from one or moreof correctional facility robots 120. Status information can include, forexample, the current position of a mobile correctional facility robot, acurrent task or tasks that the correctional facility robot is executing,a delivery order received from an inmate for a commissary item or someother item, and/or alert information regarding an event of interestrecognized by the correctional facility robot in sensor data. Events ofinterest can include words or phrases spoken by inmates or predeterminedbehavior that can be indicative of impending or ongoing dangerous orillicit behavior, such as violence or an attempted suicide.

After receiving the status and/or alert information at step 402 (orconcurrently with receiving the status and/or alert information at step402), method 400 proceeds to step 404. At step 404, central controller122 can assign tasks to one or more of mobile correctional facilityrobots 120 based on the status and/or alert information received at step402.

For example, based on status information received from one of mobilecorrectional facility robots 120 regarding a delivery request from aninmate for an item, central controller 122 can assign the task ofpicking up and delivering the item from its current location (e.g.,commissary 106) to another one of mobile correctional facility robots120. Central controller 122 can specifically assign the delivery task toone of mobile correctional facility robots 120 based on the currentlocation of mobile correctional facility robots 120 in the correctionalfacility received at step 402 relative to the pickup location of theitem to be delivered.

In another example, central controller 122 can assign a monitoring taskto one or more correctional facility robots 120 based on their currenttask loads or current locations. For example, for ones of correctionalfacility robots 120 that reported status information indicating that therobots have no or few current tasks to execute, central controller 122can assign those robots to a monitoring task to monitor inmate behaviorand provide alerts to any events of interest.

In yet another example, central controller 122 can assign one of theenforcement type mobile correctional facility robots from among mobilecorrectional facility robots 120 to perform an enforcement task based onalert information received from another one of mobile correctionalfacility robots 120. The alert information, as described above, pertainsto an event of interest recognized by a mobile correctional facilityrobot in the sensor data that it collects. Events of interest caninclude words or phrases spoken by an inmate or predetermined behaviorthat is indicative of impending or ongoing dangerous or illicitbehavior, such as violence or an attempted suicide. Central controller122 can assign the enforcement type mobile correctional facility robotto perform an enforcement action using non-lethal force to prevent orstop the dangerous or illicit behavior. The enforcement type mobilecorrectional facility robot can deploy the non-lethal forceautonomously, at the direction of central controller 122, or at theremote direction of a human operator, such as a guard.

FIG. 5 illustrates a flowchart of a coordination method 500 forexecution by a mobile correctional facility robot 120 in FIG. 1 inaccordance with embodiments of the present disclosure. Coordinationmethod 500 is intended to work in conjunction with coordination method400, implemented by central controller 122, to coordinate the efforts ofmultiple mobile correctional facility robots 120.

Coordination method 500 begins at step 502. At step 502, mobilecorrectional facility robot 120 transmits status and/or alertinformation to central controller 122 and/or to one or more other mobilecorrectional facility robots 120. Different types of status and alertinformation were described above in regard to FIG. 4 .

After step 502, method 500 proceeds to step 504. At step 504, mobilecorrectional facility robot 120 determines whether a task has beenreceived from central controller 122. If no task has been received fromcentral controller 122, method 500 proceeds back to step 502. On theother hand, if a task has been received from central controller 122,method 500 proceeds to step 506.

At step 506, mobile correctional facility robot 120 executes the task(s)that it has received from central controller 122.

It should be noted that two or more of steps 502, 504, and 506 canexecute concurrently in other embodiments.

5. Task Execution Method

Referring now to FIG. 6 , a flowchart of a method for performing thetask execution step 506 in FIG. 5 is illustrated. Method 506 isperformed by a mobile correctional facility robot 120 in FIG. 1 toexecute an assigned task. It should be noted that method 506 can beperformed as part of a multi-robot coordination scheme, as shown in FIG.5 , or in instances where a multi-robot coordination scheme is not used.

Method 506 begins as step 602. At step 602, the mobile correctionalfacility robot 120, performing method 506, determines or receives aroute within the correctional facility to execute the task. For example,the route can be provided by central controller 122 when mobilecorrectional facility robot 120 is operating as part of a multi-robotcoordination scheme or mobile correctional facility robot 120 canindependently determine the route.

After step 602, method 506 proceeds to step 604, where mobilecorrectional facility robot 120 begins to traverse the received ordetermined route from step 602. Step 604 can proceed concurrently withone or more of the remaining steps in method 506.

After step 604 (or concurrently with step 604), method 506 proceeds downone of several different paths based on the task that mobilecorrectional facility robot 120 is currently executing. For example, asshown in FIG. 5 , method 506 can proceed down a monitoring path if thetask is for performing a monitoring operation, a delivering path if thetask is for performing a delivery operation, or an enforcing path if thetask is for performing an enforcement operation. It should be noted thatmethod 506 can be adapted to include more or less paths based on thetask execution capabilities of mobile correctional facility robot 120performing method 506.

Assuming that the task currently being executed by mobile correctionalfacility robot 120 is a monitoring task, method 506 proceeds to step606. At step 606, video frames of a video stream captured by an imagesensor of mobile correctional facility robot 120 are analyzed to detectan object. For example, moving objects and/or people in the videocaptured by the video stream can be detected using one or more knownmethods for detecting moving objects and/or people in video. In additionor alternatively, audio segments of an audio stream captured by amicrophone of mobile correctional facility robot 120 are analyzed todetect objects, such as words or phrases.

After step 606, method 506 proceeds to step 608. At step 608, featuresof the detected object in the video stream or the audio stream can beextracted for recognition and/or classification using one or more knownmethods. For example, if the detected object in the video stream is aweapon or an inmate, the weapon or inmate can be extracted andrecognized as a particular weapon or inmate, or classified as a weaponor inmate. Similar, a detected word or phrase in the audio stream can berecognized as a particular word or phrase or classified as a particularword or phrase, such as those indicating violence or the potential forviolence. In addition to extracting features of the detected object instep 608, a detected object in the video stream can be tracked using oneor more known methods. Tracking a detected object can include trackingthe position and speed of the object.

After step 608, method 506 proceeds to step 610. At step 610, mobilecorrectional facility robot analyzes the video and/or audio stream todetect the occurrence of an event that is associated with the one ormore detected objects. For example, the event can be impending orongoing dangerous or illicit behavior, such as violence or an attemptedsuicide. Events can be detected using, for example, well knownrule-based or learning-based (e.g., machine learning or deep learning)event detection techniques. The event can correspond to predeterminedbehavior or predetermined words or phrases.

After step 610, method 506 proceeds to step 612. At step 612, mobilecorrectional facility robot 120 can transmit an alert of the occurrenceof the event recognized at step 610 and/or can react to the event. Forexample, if mobile correctional facility robot 120 is a service typemobile correctional facility robot described above, mobile correctionalfacility robot 120 can transmit the alert to central controller 122 todispatch an appropriately equipped and capable mobile correctionalfacility robot 120 to respond to the event, such as an enforcement typemobile correctional facility robot described above. Or, if mobilecorrectional facility robot 120 is appropriately equipped and capable ofresponding to the event (e.g., where mobile correctional facility robot120 is an enforcement type mobile correctional facility robot), mobilecorrectional facility robot 120 can itself respond to the event withoutfirst transmitting an alert to the event to central controller 122 or tosome other entity.

Referring back to step 604 of method 506, assuming that the taskcurrently being executed by mobile correctional facility robot 120 is adelivery task, method 506 proceeds to step 614. At step 614, mobilecorrectional facility robot 120 receives an item or person (e.g., aninmate) for delivery. The item for delivery can be, for example, an itemfrom commissary 106, a mail item from storage/mail room 112, a clothingitem from laundry 110, and/or an audio or video message, to provide afew examples. The item can also be a person, such as an inmate, who isto be delivered to a particular location in the correctional facility,such as the kitchen 108, medical room 114, showers 118, etc. Forexample, an inmate may need to be delivered to medical room 114 for anexam or a visitation room to meet with a visitor. Mobile correctionalfacility robot 120 can authenticate the inmate to be delivered beforetransporting the inmate. Where the item is an item from commissary 106requested by an inmate, mobile correctional facility robot 120 canverify that the inmate has sufficient funds in an account maintained bythe correctional facility or some other entity to pay for the item.

After step 614, method 506 proceeds to step 616. At step 616, the itemor person to be delivered can be secured. For example, mobilecorrectional facility robot can store the item in a storage compartment,such as compartment 208 in FIG. 2 . The item for delivery can also be avoice or video message from a person in the correctional facility. Insuch an instance, the voice or video message can be storedelectronically in a memory of mobile correctional facility robot. If aperson is to be delivered, mobile correctional facility robot 120 canchain the person in some manner to the body of mobile correctionalfacility robot 120. After the item or person is secure, mobilecorrectional facility robot 120 can then transport the item or person tothe delivery destination.

After step 616, method 506 proceeds to step 618. At step 618, mobilecorrectional facility robot 120 can authenticate the recipient of theitem or person before completing the delivery. For example, for an itemorder from commissary 106 by an inmate, mobile correctional facilityrobot 120 can authenticate the inmate before delivering the item to theinmate. Mobile correctional facility robot 120 can perform theauthentication using one or more biometric sensors as discussed above.Where the item for delivery is an electronic message, encryption can beused to authenticate the recipient of the electronic message.

Referring back to step 604 of method 506, assuming that the taskcurrently being executed by mobile correctional facility robot 120 is anenforcement task, method 506 proceeds to step 620. At step 620, mobilecorrectional facility robot 614 determines or receives an enforcementaction. For example, the enforcement action can be to deploy non-lethalforce to prevent or stop the dangerous or illicit behavior, such asviolence between inmates or a suicide attempt of an inmate. Thenon-lethal force can include the use of an electro-shock weapon, arubber projectile gun, gas, or physical contact by the robot with aninmate.

After step 620, method 506 proceeds to step 622. At step 622, mobilecorrectional facility robot 120 performs the enforcement actionautonomously, at the direction of central controller 122, or at theremote direction of a human operator, such as a guard. A human operatoror guard can remotely control mobile correctional facility robot 120through central controller 122 or through some other device.

It should be noted that, in some embodiments, steps 606-612 forperforming a monitoring task can be executed in parallel with eithersteps 614-618 for performing a delivery task or steps 620-622 forperforming an enforcement task.

6. Example Computer System Environment

It will be apparent to persons skilled in the relevant art(s) thatvarious elements and features of the present disclosure, as describedherein, can be implemented in hardware using analog and/or digitalcircuits, in software, through the execution of instructions by one ormore general purpose or special-purpose processors, or as a combinationof hardware and software.

The following description of a general purpose computer system isprovided for the sake of completeness. Embodiments of the presentdisclosure can be implemented in hardware, or as a combination ofsoftware and hardware. Consequently, embodiments of the disclosure maybe implemented in the environment of a computer system or otherprocessing system. An example of such a computer system 700 is shown inFIG. 7 . Each of the steps of the methods depicted in FIG. 4 , FIG. 5 ,and FIG. 6 can be implemented on one or more computer systems 700.

Computer system 700 includes one or more processors, such as processor704. Processor 704 can be a special purpose or a general purpose digitalsignal processor. Processor 704 is connected to a communicationinfrastructure 702 (for example, a bus or network). Various softwareimplementations are described in terms of this exemplary computersystem. After reading this description, it will become apparent to aperson skilled in the relevant art(s) how to implement the disclosureusing other computer systems and/or computer architectures.

Computer system 700 also includes a main memory 706, preferably randomaccess memory (RAM), and may also include a secondary memory 708.Secondary memory 708 may include, for example, a hard disk drive 710and/or a removable storage drive 712, representing a floppy disk drive,a magnetic tape drive, an optical disk drive, or the like. Removablestorage drive 712 reads from and/or writes to a removable storage unit716 in a well-known manner. Removable storage unit 716 represents afloppy disk, magnetic tape, optical disk, or the like, which is read byand written to by removable storage drive 712. As will be appreciated bypersons skilled in the relevant art(s), removable storage unit 716includes a computer usable storage medium having stored therein computersoftware and/or data.

In alternative implementations, secondary memory 708 may include othersimilar means for allowing computer programs or other instructions to beloaded into computer system 700. Such means may include, for example, aremovable storage unit 718 and an interface 714. Examples of such meansmay include a program cartridge and cartridge interface (such as thatfound in video game devices), a removable memory chip (such as an EPROM,or PROM) and associated socket, a thumb drive and USB port, and otherremovable storage units 718 and interfaces 714 which allow software anddata to be transferred from removable storage unit 718 to computersystem 700.

Computer system 700 may also include a communications interface 720.Communications interface 720 allows software and data to be transferredbetween computer system 700 and external devices. Examples ofcommunications interface 720 may include a modem, a network interface(such as an Ethernet card), a communications port, a PCMCIA slot andcard, etc. Software and data transferred via communications interface720 are in the form of signals which may be electronic, electromagnetic,optical, or other signals capable of being received by communicationsinterface 720. These signals are provided to communications interface720 via a communications path 722. Communications path 722 carriessignals and may be implemented using wire or cable, fiber optics, aphone line, a cellular phone link, an RF link and other communicationschannels.

As used herein, the terms “computer program medium” and “computerreadable medium” are used to generally refer to tangible storage mediasuch as removable storage units 716 and 718 or a hard disk installed inhard disk drive 710. These computer program products are means forproviding software to computer system 700.

Computer programs (also called computer control logic) are stored inmain memory 706 and/or secondary memory 708. Computer programs may alsobe received via communications interface 720. Such computer programs,when executed, enable the computer system 700 to implement the presentdisclosure as discussed herein. In particular, the computer programs,when executed, enable processor 704 to implement the processes of thepresent disclosure, such as any of the methods described herein.Accordingly, such computer programs represent controllers of thecomputer system 700. Where the disclosure is implemented using software,the software may be stored in a computer program product and loaded intocomputer system 700 using removable storage drive 712, interface 714, orcommunications interface 720.

In another embodiment, features of the disclosure are implementedprimarily in hardware using, for example, hardware components such asapplication-specific integrated circuits (ASICs) and gate arrays.Implementation of a hardware state machine so as to perform thefunctions described herein will also be apparent to persons skilled inthe relevant art(s).

7. Conclusion

Embodiments have been described above with the aid of functionalbuilding blocks illustrating the implementation of specified functionsand relationships thereof. The boundaries of these functional buildingblocks have been arbitrarily defined herein for the convenience of thedescription. Alternate boundaries can be defined so long as thespecified functions and relationships thereof are appropriatelyperformed.

The foregoing description of the specific embodiments will so fullyreveal the general nature of the disclosure that others can, by applyingknowledge within the skill of the art, readily modify and/or adapt forvarious applications such specific embodiments, without undueexperimentation, without departing from the general concept of thepresent disclosure. Therefore, such adaptations and modifications areintended to be within the meaning and range of equivalents of thedisclosed embodiments, based on the teaching and guidance presentedherein. It is to be understood that the phraseology or terminologyherein is for the purpose of description and not of limitation, suchthat the terminology or phraseology of the present specification is tobe interpreted by the skilled artisan in light of the teachings andguidance.

What is claimed is:
 1. A method for coordinating a plurality of mobilecorrectional facility robots comprising a first mobile correctionalfacility robot, a second mobile correctional facility robot, a thirdmobile correctional facility robot, and a fourth mobile correctionalfacility robot in a correctional facility, the method comprising:receiving first status information from the first mobile correctionalfacility robot, wherein the first mobile correctional facility robot isof a first type and wherein the status information is associated with atask to be performed; identifying, based on the first statusinformation, the second mobile correctional facility robot, wherein thesecond mobile correctional facility robot is of a second type;assigning, to the second mobile correctional facility robot, the task tobe performed; receiving second status information from the third mobilecorrectional facility robot; receiving third status information from thefourth mobile correctional facility robot, wherein the third statusinformation is associated with a second task to be performed; andassigning, based on the second status information, the second task tothe third mobile correctional facility robot.
 2. The method of claim 1,further comprising: assigning, to the first mobile correctional facilityrobot and the second mobile correctional facility robot, a third task,wherein the third task is a monitoring task of a particular area withinthe correctional facility; and receiving, from the first mobilecorrectional facility robot or the second mobile correctional facilityrobot, an alert associated with the monitoring task.
 3. The method ofclaim 1, wherein the first status information comprises sensor data ofthe first mobile correctional facility robot indicating an event ofinterest within the correctional facility.
 4. The method of claim 3,wherein the event of interest comprises at least one of a predeterminedspoken word or phrase detected by the first mobile correctional facilityrobot or a predetermined behavior detected by the first mobilecorrectional facility robot.
 5. The method of claim 4, furthercomprising: directing the second mobile correctional facility robot todeploy non-lethal force as part of executing the task.
 6. The method ofclaim 3, wherein the sensor data comprises information regarding anobject detected by the first mobile correctional facility robot and theevent of interest is recognized based on the detected object.
 7. Themethod of claim 1, wherein the second status information comprises acurrent location of the third mobile correctional facility robot, thethird status information comprises a delivery order received from aninmate of the correctional facility, and the second task is a deliverytask associated with the delivery order.
 8. The method of claim 7,wherein the second task is assigned based on the current location of thethird mobile correctional facility robot.
 9. The method of claim 1,wherein the first type is a monitoring type and the second type is anenforcement type.
 10. The method of claim 1, wherein the method isperformed by a fifth mobile correctional facility robot of the pluralityof mobile correctional facility robots.
 11. A mobile central controllerrobot for operating within a correctional facility comprising: aplurality of actuators, wherein the plurality of actuators is based on atype of the mobile central controller robot; a sensor array; atransceiver configured to communicate with a plurality of mobilecorrectional facility robots comprising a first mobile correctionalfacility robot, a second mobile correctional facility robot, a thirdmobile correctional facility robot, and a fourth mobile correctionalfacility robot; a memory comprising computer program instructions; and ahardware processing unit configured to execute the computer programinstructions to perform operations comprising: receiving first statusinformation from the first mobile correctional facility robot, whereinthe first mobile correctional facility robot is of a first type andwherein the status information is associated with a task to beperformed; identifying, based on the first status information, thesecond mobile correctional facility robot, wherein the second mobilecorrectional facility robot is of a second type; assigning, to thesecond mobile correctional facility robot, the task to be performed;receiving second status information from the third mobile correctionalfacility robot; receiving third status information from the fourthmobile correctional facility robot, wherein the third status informationis associated with a second task to be performed; and assigning, basedon the second status information, the second task to the third mobilecorrectional facility robot.
 12. The mobile central controller robot ofclaim 11, the operations further comprising: assigning, to the firstmobile correctional facility robot and the second mobile correctionalfacility robot, a third task, wherein the third task is a monitoringtask of a particular area within the correctional facility; andreceiving, from the first mobile correctional facility robot or thesecond mobile correctional facility robot, an alert associated with themonitoring task.
 13. The mobile central controller robot of claim 11,wherein the first status information comprises sensor data of the firstmobile correctional facility robot indicating an event of interestwithin the correctional facility.
 14. The mobile central controllerrobot of claim 13, wherein the event of interest comprises at least oneof a predetermined spoken word or phrase detected by the first mobilecorrectional facility robot or a predetermined behavior detected by thefirst mobile correctional facility robot.
 15. The mobile centralcontroller robot of claim 14, the operations further comprising:directing the second mobile correctional facility robot to deploynon-lethal force as part of executing the task.
 16. The mobile centralcontroller robot of claim 13, wherein the sensor data comprisesinformation regarding an object detected by the first mobilecorrectional facility robot and the event of interest is recognizedbased on the detected object.
 17. The mobile central controller robot ofclaim 11, wherein the second status information comprises a currentlocation of the third mobile correctional facility robot, the thirdstatus information comprises a delivery order received from an inmate ofthe correctional facility, and the second task is a delivery taskassociated with the delivery order.
 18. The mobile central controllerrobot of claim 17, wherein the second task is assigned based on thecurrent location of the third mobile correctional facility robot.
 19. Amethod for coordinating a plurality of mobile correctional facilityrobots comprising a first mobile correctional robot, a second mobilecorrectional facility robot, and a third mobile correctional facilityrobot, in a correctional facility, the method comprising: receivingfirst status information from the first mobile correctional facilityrobot, wherein the first mobile correctional facility robot is of afirst type and wherein the status information is associated with a taskto be performed; identifying, based on the first status information, thesecond mobile correctional facility robot and the third mobilecorrectional facility robot, wherein the second mobile correctionalfacility robot and the third mobile correctional facility robot are of asecond type, wherein the second type are enforcement type robots; andassigning, to the second mobile correctional facility robot and thethird mobile correctional robot, the task to be performed.
 20. Themethod of claim 19, wherein the status information comprises sensor dataof the first mobile correctional facility robot indicating an event ofinterest within the correctional facility.